rospy.Subscriber('/amcl_pose', PoseWithCovarianceStamped, amcl_pose_callback)
rospy.Subscriber("/odom", Odometry, odometry_callback)
start_session_pub = rospy.Publisher('/photo/start_session', Bool, queue_size=10)
session_state_msg = Bool()
session_num_pub = rospy.Publisher('/photo/session_num', UInt32, queue_size=10)
session_num_msg = UInt32()
rack_id_pub = rospy.Publisher('/photo/rack_id', UInt32, queue_size=10)
rack_id_msg = UInt32()
navigator = GoToPose()
camera = TakePhoto()
wall = WallFollow(LEFT)
wall.stop()
for obj in dataMap:
if rospy.is_shutdown():
break
name = obj['filename']
session_num_msg = obj['session']
rack_id_msg = obj['rackid']
rospy.loginfo("Go to %s pose of rack %s", name[:-4], rack_id_msg)
if obj['rackid'] != 0:
rospy.loginfo("Start wall follower")
